Method for forming a vacuum adhesion

ABSTRACT

A method, apparatus, and system for adhering a vacuum to a surface is provided. A seal is positioned relative to a surface. The seal is associated with a structure and is in communication with a channel within the structure. The seal is rotated relative to the structure such that the seal at least partially conforms to the surface. Air is drawn into the channel within the structure through the seal such that the seal adheres to the surface.

BACKGROUND INFORMATION

1. Field

The present disclosure relates generally to adhesion to surfaces and, inparticular, to vacuum adhesion to surfaces. Still more particularly, thepresent disclosure relates to a method and apparatus for forming avacuum adhesion between a number of seals and a surface while optionallyallowing relatively free motion along the surface.

2. Background

Different types of attachment systems may be used to attach a platformto a surface. The platform may be, for example, a stage, a roboticmachine, a robotic crawler, a vehicle, a mobile structure, or some othertype of platform. Some platforms, such as, for example, but not limitedto, robotic machines, may use vacuum systems to attach to a surface.

For example, a robotic machine may have one or more legs and a vacuumsystem associated with these legs. Further, one or more seals may beattached to the legs. The vacuum system may create at least a partialvacuum between the seals and a surface to form a vacuum adhesion withthe surface. This vacuum adhesion may allow the robotic machine to movealong a surface, while remaining attached to the surface. In particular,the robotic machine may move along a vertical surface, a horizontal ortilted surface, or some other angled surface without falling off thesurface when the vacuum adhesion is formed between the seals on therobotic machine and the surface.

With these types of vacuum systems, a cushion of air is formed betweenthe seals and the surface during operation of the vacuum system. Inother words, a gap is present between the seals and the surface. The gapbetween the seals and the surface allows the seals to float above thesurface while the downward force provided by the vacuum system allowswheels on the robotic vehicle to remain in contact with the surface. Inthis manner, the robotic machine may obtain traction on the wheels,which may be attached to motors that propel the robotic machine in agiven direction. Consequently, the robotic machine may adhere to thesurface and move along the surface with a reduced amount of frictionbetween the robotic machine and the surface.

The width of the gap between the seals and the surface may determine thestrength of the vacuum adhesion formed between the robotic machine andthe surface. When the gap is wider than some selected threshold, thevacuum adhesion may not have the desired level of strength.Consequently, the robotic machine may lose traction and be unable toclimb a vertical surface or may fall off the surface. When the gap isnarrower than some selected threshold, the vacuum adhesion may bestronger than desired. Consequently, the robotic machine may be stuck tothe surface and unable to move along the surface.

With some currently available vacuum systems, the width of the gapformed between the seals of the robotic machine and the surface maychange as the robotic machine moves along the surface when the surfaceis not flat and/or has inconsistencies. For example, the surface may bea curved surface, such as the outer surface of a fuselage of anaircraft. In some cases, the surface may have inconsistencies such as,for example, without limitation, protrusions, protruding fastenerjoints, and/or other types of inconsistencies that may affect the widthof the gap as the robotic machine moves over the surface.

A curved shape, curved features, surface inconsistencies, and/or otherfeature that make a surface not flat may cause the strength of thevacuum adhesion formed between the robotic machine and the surface tofluctuate as the robotic machine moves over the surface. Therefore, itwould be desirable to have a method and apparatus that takes intoaccount at least some of the issues discussed above, as well as otherpossible issues.

SUMMARY

In one illustrative embodiment, an apparatus comprises a structure and aseal. The seal is associated with the structure and is in communicationwith a channel within the structure. The seal is configured to adhere toa surface relative to which the seal is positioned when air is drawninto the channel of the structure through the seal. The seal isconfigured to rotate relative to the structure to at least partiallyconform to a shape of the surface.

In another illustrative embodiment, an adhesion system comprises astructure, a number of sleeves, a number of seals, and a vacuum system.The structure comprises a number of structural members. A sleeve in thenumber of sleeves is positioned in a channel within a correspondingstructural member in the number of structural members. The sleeve isconfigured to move in a direction along a center axis through the sleeveand the channel within the structural member. A seal in the number ofseals is associated with a bearing surface at an end of the sleeve. Theseal is configured to rotate relative to the sleeve independently ofmovement of the sleeve in the direction along the center axis throughthe sleeve and the channel within the structural member. The vacuumsystem is configured to draw air into the channel within the structurethrough a seal channel in the seal and a sleeve channel in the sleevesuch that a vacuum adhesion is formed between the seal and a surfaceover which the seal is positioned.

In yet another illustrative embodiment, a method for adhering to asurface that is non-planar is provided. A seal is positioned relative tothe surface. The seal is associated with a structure and is incommunication with a channel within the structure. The seal is rotatedrelative to the structure such that the seal at least partially conformsto the surface. Air is drawn into the channel within the structurethrough the seal such that the seal adheres to the surface.

The features and functions can be achieved independently in variousembodiments of the present disclosure or may be combined in yet otherembodiments in which further details can be seen with reference to thefollowing description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrativeembodiments are set forth in the appended claims. The illustrativeembodiments, however, as well as a preferred mode of use, furtherobjectives and features thereof, will best be understood by reference tothe following detailed description of an illustrative embodiment of thepresent disclosure when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is an illustration of an adhesion system in the form of a blockdiagram in accordance with an illustrative embodiment;

FIG. 2 is an illustration of a robotic crawler and an adhesion system inaccordance with an illustrative embodiment;

FIG. 3 is an illustration of a side view of an adhesion system inaccordance with an illustrative embodiment;

FIG. 4 is an illustration of a bottom isometric side view of an adhesionsystem in accordance with an illustrative embodiment;

FIG. 5 is an illustration of a top view of an adhesion system inaccordance with an illustrative embodiment;

FIG. 6 is an illustration of a bottom view of an adhesion system inaccordance with an illustrative embodiment;

FIG. 7 is an illustration of a bottom isometric view of a structure inaccordance with an illustrative embodiment;

FIG. 8 is an illustration of a bottom perspective view of a sleeve and aseal attached to the sleeve in accordance with an illustrativeembodiment;

FIG. 9 is an illustration of a sleeve without a seal attached to thesleeve in accordance with an illustrative embodiment;

FIG. 10 is an illustration of a seal without a sleeve in accordance withan illustrative embodiment;

FIG. 11 is an illustration of a seal component of a seal in accordancewith an illustrative embodiment;

FIG. 12 is an illustration of a seal component of a seal in accordancewith an illustrative embodiment;

FIG. 13 is an illustration of a cross-sectional side view of an adhesionsystem in accordance with an illustrative embodiment;

FIG. 14 is an illustration of a cross-sectional side view of an adhesionsystem in accordance with an illustrative embodiment;

FIG. 15 is an illustration of an adhesion system adhering to a surfacein accordance with an illustrative embodiment;

FIG. 16 is an illustration of an adhesion system adhering to a surfacein accordance with an illustrative embodiment;

FIG. 17 is an illustration of an adhesion system adhering to a surfacein accordance with an illustrative embodiment;

FIG. 18 is an illustration of an adhesion system adhering to a surfacein accordance with an illustrative embodiment;

FIG. 19 is an illustration of an adhesion system adhering to a surfacein accordance with an illustrative embodiment; and

FIG. 20 is an illustration of a process for adhering to a surface in theform of a flowchart in accordance with an illustrative embodiment.

DETAILED DESCRIPTION

The different illustrative embodiments recognize and take into accountdifferent considerations. For example, the different illustrativeembodiments recognize and take into account that it may be desirable tohave an adhesion system that allows a platform to adhere to a surfacethat is not flat and/or has inconsistencies using a vacuum adhesion witha desired level of strength. In particular, the different illustrativeembodiments recognize and take into account that it may be desirable tohave an adhesion system that allows a vacuum adhesion with a desiredlevel of strength to be formed between an object and a surface, whileminimizing static friction between the object and the surface.

Thus, the illustrative embodiments provide a method and apparatus forforming a vacuum adhesion between a number of seals and a surface. Inparticular, the illustrative embodiments provide a method and apparatusfor maintaining a vacuum adhesion between a platform and a surface thatis not flat and/or has inconsistencies, while the platform moves alongthe surface.

Referring now to the figures, and in particular, with reference to FIG.1, an illustration of an adhesion system in the form of a block diagramis depicted in accordance with an illustrative embodiment. In theseillustrative examples, adhesion system 100 is configured to createadhesion 102 between surface 104 and platform 106. Surface 104 is asurface that is non-planar. More specifically, one or more portions ofsurface 104 may be non-planar in these examples. In other words, theentire surface 104 may not be flat.

For example, without limitation, surface 104 may have a curved shape. Insome cases, different portions of surface 104 may have different curvedfeatures that form, for example, without limitation, one or more hillsand valleys along surface 104. In other cases, surface 104 may haveinconsistencies along surface 104. For example, surface 104 may haveprotrusions at different locations on surface 104. As another example,fastener joints may extend out of a plane through surface 104.

Surface 104 may belong to any of a number of different types of objects.Surface 104 may belong to, for example, but not limited to, a fuselageof an aircraft, a wing of an aircraft, a nacelle of an engine for anaerospace vehicle, a hull of a ship, a missile, a cargo container, adoor, a wall, a roof, a window, a structure, a table, a floor, or someother type of object.

Platform 106 may take the form of a stationary platform or a mobileplatform. Examples of stationary platforms include, but are not limitedto, a stage, an inspection system, a man-made structure, a container,and a retaining structure. Examples of mobile platforms include, but arenot limited to, a mobile robotic machine, a robotic crawler, a mobileinspection system, an unmanned ground vehicle, or some other type ofmobile platform. In these illustrative examples, platform 106 takes theform of mobile platform 108.

Adhesion system 100 may be associated with platform 106. When onecomponent is “associated” with another component, the association is aphysical association in the depicted examples. For example, a firstcomponent, such as adhesion system 100, may be considered to beassociated with a second component, such as platform 106, by beingsecured to the second component, bonded to the second component, mountedto the second component, welded to the second component, fastened to thesecond component, and/or connected to the second component in some othersuitable manner.

The first component also may be connected to the second component usinga third component. The first component also may be considered to beassociated with the second component by being formed as part of and/oran extension of the second component. In this manner, adhesion system100 may be considered part of platform 106 in some illustrativeexamples.

As depicted, adhesion system 100 comprises structure 110, number ofseals 112, and vacuum system 114. In some cases, adhesion system 100 mayalso include number of sleeves 116. As used herein, a “number of” itemsmeans one or more items. In this manner, number of seals 112 and numberof sleeves 116 may be one or more seals and one or more sleeves,respectively.

In these illustrative examples, structure 110 is a support structure.Structure 110 may be associated with platform 106 and configured tosupport platform 106 over surface 104. Structure 110 may comprise numberof structural members 118.

Number of structural members 118 may be considered, for example, thelegs of structure 110. In particular, number of structural members 118may be considered the legs of platform 106. In some illustrativeexamples, number of structural members 118 may be portions of the samestructure. In other illustrative examples, number of structural members118 may be individual members connected together to form structure 110.

Number of seals 112 may be associated with number of structural members118. In these illustrative examples, each seal in number of seals 112may be associated with a corresponding structural member in number ofstructural members 118. For example, each seal in number of seals 112may be attached to an end of a corresponding structural member in numberof structural members 118.

Structural member 120 is an example of one of number of structuralmembers 118. Structural member 120 has channel 122 through which air 124is allowed to flow. Seal 125 is associated with end 121 of structuralmember 120. Seal 125 has seal channel 126 through which air 124 isallowed to flow. Air 124 is allowed to flow between channel 122 ofstructural member 118 and seal channel 126. In this manner, seal 125 isin communication with channel 122 of structural member 118. Morespecifically, seal channel 126 is in communication with channel 122 ofstructural member 118.

In these illustrative examples, seal 125 is associated with end 121 ofstructural member 120 such that channel 122 of structural member 120 andseal channel 126 share a common center axis. Further, in these examples,seal 125 is associated with end 121 of structural member 120 in a mannerthat allows seal 125 to rotate about pivot point 128. Pivot point 128 isa pivot point located along the center axis through structural member120.

As one illustrative example, seal 125 may be attached to structuralmember 120 by sleeve 131 in number of sleeves 116. Sleeve 131 may beassociated with structural member 120 at end 121 of structural member120. Sleeve 131 may have sleeve channel 132 through which air 124 isallowed to flow. In this illustrative example, sleeve 131 is associatedwith structural member 120 such that channel 122 of structural member120 and sleeve channel 132 share a common center axis. In this manner,sleeve channel 132 and seal channel 126 also share a common center axis.

Sleeve 131 is movably attached to structural member 120 in thisillustrative example. In particular, sleeve 131 may be movably attachedto structural member 120 such that sleeve 131 may move relative tostructural member 120 in a direction along the center axis shared bystructural member 120, sleeve 131, and seal 125. The movement of sleeve131 is independent of the rotation of seal 125 about pivot point 128.

For example, sleeve 131 may be configured to slide within channel 122 ofstructural member 120 along the center axis through structural member120. This sliding movement may be restricted to within a selected rangeof movement. However, sleeve 131 may “float” freely within channel 122of structural member 120 within this selected range of movement.

Further, end 133 of seal 125 is movably attached to end 134 of sleeve131 in this illustrative example. Sleeve 131 has bearing surface 136 atend 134 of sleeve 131. Bearing surface 136 has a shape selected to allowend 133 of seal 125 attached to bearing surface 136 of sleeve 131 at end134 of sleeve 131 to rotate about pivot point 128. This rotation may bein any direction relative to pivot point 128. However, the amount ofrotation may be limited by the size and/or shape of bearing surface 136.

Additionally, as stated above, the rotation of seal 125 about pivotpoint 128 is independent of the movement of sleeve 131 in the directionalong the center axis shared by structural member 120, sleeve 131, andseal 125.

In some illustrative examples, sleeve 131 may not be used. Instead, seal125 may be directly attached to end 121 of structural member 120. Forexample, seal 125 may have bearing surface 142 at end 133 of seal 125.Bearing surface 142 may have a shape selected to allow seal 125 torotate about pivot point 128 in any direction when seal 125 is attachedto end 121 of structural member 120. As another example, structuralmember 120 may have bearing surface 140 at end 121 of structural member120. Bearing surface 140 may have a size and shape configured to allowseal 125 to rotate about pivot point 128 in any direction.

In these illustrative examples, structure 110 is associated with vacuumsystem 114. Vacuum system 114 may be configured to draw air 124 intochannel 122 of structural member 120 from seal channel 126. When sleeve131 is used, air 124 is drawn into sleeve channel 132 from seal channel126 and then into channel 122 of structural member 120 from sleevechannel 132.

During operation of vacuum system 114, air 124 in the environment aroundadhesion system 100 and platform 106 may be drawn into channel 122 ofstructural member 120 through seal channel 126 of seal 125. Inparticular, vacuum system 114 draws air 124 into channel 122 ofstructural member 120 to form adhesion 102 between seal 125 and surface104.

Adhesion 102 takes the form of vacuum adhesion 144 in these illustrativeexamples. As used herein, vacuum adhesion 144 is formed when at least apartial vacuum is created between seal 125 and surface 104. The flow ofair 124 from the environment around adhesion system 100 and platform 106into seal channel 126, sleeve channel 132, and channel 122 of structuralmember 120 forms gap 145 between seal 125 and surface 104 in addition toforming vacuum adhesion 144. In some cases gap 145 may also be referredto as an “air micro-cushion”, “air gap”, or “air cushion”.

In these examples, the width of gap 145 is the distance between seal 125and surface 104. The width of gap 145 may vary along gap 145 dependingon the shape of surface 104 and depending on whether seal 125 hasrotated about pivot point 128.

Gap 145 may function as an air bearing that holds seal 125 close tosurface 104, while reducing static friction to within selectedtolerances. In other words, gap 145 allows seal 125 to “float” abovesurface 104 while maintaining vacuum adhesion 144 between seal 125 andsurface 104. Further, gap 145 allows seal 125 to be moved over surface104 with a reduced amount of static friction and without causingundesired effects to surface 104.

In these illustrative examples, all seals in number of seals 112 may beimplemented in a manner similar to seal 125. Further, all sleeves innumber of sleeves 116 may be implemented in a manner similar to sleeve131. A seal in number of seals 112, a corresponding sleeve in number ofsleeves 116 to which the seal is attached, and a correspondingstructural member in number of structural members 118 to which thecorresponding sleeve is attached may be referred to as a seal assemblyin these illustrative examples. In this manner, adhesion system 100 maycomprise any number of seal assemblies.

When mobile platform 108 moves over surface 104 having a curved shape,the vacuum applied by vacuum system 114 may cause number of seals 112 toadhere to surface 104 and also rotate about pivot point 128 to conformto the curved shape of surface 104. In this manner, the gap formedbetween each of number of seals 112 and surface 104 may be withinselected tolerances.

Further, the capability of each of number of seals 112 to rotate about acorresponding pivot point and each of number of sleeves 116 to floatwithin the channel of a corresponding structural member in number ofstructural members 118 may allow mobile platform 108 to move alongsurface 104 having any number of shapes and/or surface inconsistencies.Rotation of number of seals 112 and the movement of number of sleeves116 may be independent of each other.

The illustration of adhesion system 100 for platform 106 in FIG. 1 isnot meant to imply physical or architectural limitations to the mannerin which an illustrative embodiment may be implemented. Other componentsin addition to or in place of the ones illustrated may be used. Somecomponents may be unnecessary. Also, the blocks are presented toillustrate some functional components. One or more of these blocks maybe combined, divided, or combined and divided into different blocks whenimplemented in an illustrative embodiment.

With reference now to FIGS. 2-19, illustrations of one implementationfor an adhesion system are depicted in accordance with an illustrativeembodiment. In FIGS. 2-19, an adhesion system configured for associationwith a robotic crawler is depicted in accordance with an illustrativeembodiment.

Turning now to FIG. 2, an illustration of a robotic crawler and anadhesion system is depicted in accordance with an illustrativeembodiment. In FIG. 2, robotic crawler 200 is an example of oneimplementation for mobile platform 108 in FIG. 1. Robotic crawler 200includes movement system 202, adhesion system 204, and control system206. In this illustrative example, movement system 202 is configured toallow robotic crawler 200 to move over a surface.

Adhesion system 204 is an example of one implementation for adhesionsystem 100 in FIG. 1. As depicted, adhesion system 204 includes sealassembly 210 and seal assembly 212. Vacuum system 208 may be an exampleof one implementation for vacuum system 114 in FIG. 1. Vacuum system 208is configured to allow a vacuum adhesion to be formed between sealassembly 210 and seal assembly 212. Control system 206 is configured tocontrol movement system 202 and vacuum system 208 in this illustrativeexample.

With reference now to FIG. 3, an illustration of a side view of adhesionsystem 204 from FIG. 2 is depicted in accordance with an illustrativeembodiment. As depicted, seal assembly 210 and seal assembly 212 may beconnected to each other by structure 300. Structure 300 may be anexample of one implementation for structure 110 in FIG. 1.

Structure 300 may comprise structural member 302 and structural member304. Structural member 302 and structural member 304 may be configuredto cover and hold sleeve 306 and sleeve 308, respectively. Sleeve 306and sleeve 308 are examples of one implementation for number of sleeves116 in FIG. 1. In this illustrative example, sleeve 306 and sleeve 308have bearing surface 310 and bearing surface 314, respectively. Seal 312is attached to bearing surface 310 of sleeve 306, while seal 316 isattached to bearing surface 314 of sleeve 308.

In this illustrative example, pin 318 may be used to hold sleeve 306within a channel inside structural member 302. Further, pin 320 may beused to hold sleeve 308 within a channel inside structural member 304.

As depicted, structural member 302, sleeve 306, and seal 312 may sharecenter axis 322. Further, structural member 304, sleeve 308, and seal316 may share center axis 324. Sleeve 306 and sleeve 308 are configuredto move in a direction along center axis 322 and center axis 324,respectively, within a selected range of movement. Further, seal 312 andseal 316 are configured to rotate about a pivot point along center axis322 and a pivot point around center axis 324, respectively, within aselected range of rotation.

With reference now to FIG. 4, an illustration of a bottom isometric sideview of adhesion system 204 from FIG. 2 is depicted in accordance withan illustrative embodiment. As depicted, seal 312 comprises sealcomponent 402 and seal component 404 nested within seal component 402.Further, seal 316 comprises seal component 406 and seal component 408.

Seal component 402, seal component 404, seal component 406, and sealcomponent 408 may be comprised of a number of different materials. Forexample, these seal components may be comprised of rubber, aviscoelastomeric material, an elastomer, a flexible material, and/orother types of materials.

In this illustrative example, channel 410 extends through seal 312,sleeve 306, and structural member 302. Further, channel 412 extendsthrough seal 316, sleeve 308, and structural member 304. Channel 410 andchannel 412 are examples of one implementation for the channel formed bychannel 122 of structural member 120, sleeve 131, and seal 125 inFIG. 1. Vacuum system 208 from FIG. 2 may be used to draw air intochannel 410 and channel 412 from the environment around adhesion system204 in FIG. 2 such that a vacuum adhesion is formed between seal 312 anda surface and between seal 316 and the same surface.

With reference now to FIG. 5, an illustration of a top view of adhesionsystem 204 from FIG. 3 is depicted in accordance with an illustrativeembodiment. In this top view of adhesion system 204, duct 500 withinstructure 300 is seen. Duct 500 is a vacuum duct in this illustrativeexample. Duct 500 is connected to channel 410 and channel 412 from FIG.4. In this manner, vacuum system 208 from FIG. 2 may draw air fromchannel 410 and channel 412 into duct 500.

Turning now to FIG. 6, an illustration of a bottom view of adhesionsystem 204 from FIG. 3 is depicted in accordance with an illustrativeembodiment. In this illustrative example, the connection between channel410 and channel 412 to duct 500 is depicted.

With reference now to FIG. 7, an illustration of a bottom isometric viewof structure 300 from FIG. 3 is depicted in accordance with anillustrative embodiment. In this illustrative example, inner surface 700of structural member 302 and inner surface 702 of structural member 304are depicted.

Inner surface 700 of structural member 302 forms channel 704 withinstructural member 302. Inner surface 702 of structural member 304 formschannel 706 within structural member 304. Channel 704 and channel 706form a portion of channel 410 and channel 412, respectively. Pin 318 andpin 320 may extend past inner surface 700 and inner surface 702,respectively, into channel 704 and channel 706, respectively.

With reference now to FIG. 8, an illustration of a bottom perspectiveview of sleeve 306 and seal 312 attached to sleeve 306 from FIG. 3 isdepicted in accordance with an illustrative embodiment. As depicted,sleeve 306 has opening 800. Opening 800 is configured to receive pin 318in FIG. 3.

Sleeve 306 may be held within structural member 302 in FIG. 3 when pin318 is received within opening 800. Sleeve 306 may be configured to movein a direction along center axis 322 relative to structural member 302from FIG. 3. However, the range of movement of sleeve 306 may be limitedby the length of opening 800 with respect to center axis 322.

With reference now to FIG. 9, an illustration of sleeve 306 from FIG. 8without seal 312 attached to sleeve 306 is depicted in accordance withan illustrative embodiment. Sleeve 306 has sleeve channel 900. Sleevechannel 900 forms a portion of channel 410. Sleeve channel 900 is anexample of one implementation for sleeve channel 132 in FIG. 1.

As depicted, bearing surface 310 has a curved shape. In thisillustrative example, the curved shape of bearing surface 310 maysubstantially match a portion of a spherical shape. Bearing surface 310is configured to control how much seal 312 in FIG. 3 can rotate relativeto sleeve 306.

Turning now to FIG. 10, an illustration of seal 312 from FIG. 8 withoutsleeve 306 is depicted in accordance with an illustrative embodiment. Asdepicted, seal 312 has seal channel 1000. Seal channel 1000 forms aportion of channel 410. Seal channel 1000 is an example of oneimplementation for seal channel 126 in FIG. 1. Further, in thisillustrative example, seal component 404 is more clearly seen nestedwithin groove 1002 of seal component 402.

With reference now to FIG. 11, an illustration of seal component 402 ofseal 312 from FIG. 10 is depicted in accordance with an illustrativeembodiment. In FIG. 12, an illustration of seal component 404 of seal312 from FIG. 10 is depicted in accordance with an illustrativeembodiment.

With reference now to FIG. 13, an illustration of a cross-sectional sideview of adhesion system 204 from FIG. 4 is depicted in accordance withan illustrative embodiment. In this illustrative example, across-sectional view of adhesion system 204 is depicted taken alonglines 13-13 in FIG. 5.

The side view of adhesion system 204 in FIG. 13 is from a side ofadhesion system 204 opposite to the side of adhesion system 204 seen inFIGS. 3-4. In FIG. 13, pin 318 is seen within opening 800 of sleeve 306.Further, pin 320 is seen within opening 1300 of sleeve 308.

Pin 318 and pin 320 are located within the middle of opening 800 andopening 1300, respectively. When pin 318 is located within the middle ofopening 800, sleeve 306 is considered in an initial position relative tostructural member 302. Further, when pin 320 is located in the middle ofopening 1300, sleeve 308 is considered in an initial position relativeto structural member 304.

In FIG. 13, seal channel 1000 through seal 312 is aligned with sleevechannel 900 of sleeve 306. In other words, a center axis through sealchannel 1000 is aligned with center axis 322 through sleeve 306 suchthat these two center axes are parallel. When the center axis of seal312 is aligned with center axis 322, seal 312 is in an initial positionand is not considered rotated relative to sleeve 306.

Similarly, in FIG. 13, seal channel 1302 through seal 316 is alignedwith sleeve channel 1304 of sleeve 308. In other words, a center axisthrough seal channel 1302 is aligned with center axis 324 through sleeve308 such that these two center axes are parallel. When the center axisof seal 316 is aligned with center axis 324, seal 316 is in an initialposition and is not considered rotated relative to sleeve 308.

Turning now to FIG. 14, an illustration of a cross-sectional side viewof adhesion system 204 from FIG. 4 is depicted in accordance with anillustrative embodiment. In FIG. 14, sleeve 306 has moved away from aninitial position in the direction of arrow 1400 along center axis 322relative to structural member 302 such that pin 318 is positioned at top1402 of opening 800. Further, sleeve 308 has moved away from an initialposition in the direction of arrow 1404 along center axis 324 relativeto structural member 304 such that pin 320 is positioned at bottom 1406of opening 1300.

The length of opening 800 restricts the movement of sleeve 306 such thatsleeve 306 may be unable to move any further in the direction of arrow1400. Further, the length of opening 1300 restricts the movement ofsleeve 308 such that sleeve 308 may be unable to move any further in thedirection of arrow 1404.

Turning now to FIGS. 15-19, illustrations of adhesion system 204adhering to different types of surfaces are depicted in accordance withan illustrative embodiment. In particular, in FIGS. 15-19, adhesionsystem 204 is depicted adhering to surfaces having different curvedshapes and/or different inconsistencies.

In each of FIGS. 15-19, seal 312 and/or seal 316 may be rotated relativeto sleeve 306 and sleeve 308, respectively, to conform to the differentsurfaces. Further, sleeve 306 and/or sleeve 308 may have differentpositions relative to structural member 302 and structural member 304,respectively, to allow seal 312 and seal 316, respectively, to betterconform to the different surfaces.

With reference now to FIG. 15, an illustration of adhesion system 204adhering to a surface is depicted in accordance with an illustrativeembodiment. In this illustrative example, adhesion system 204 adheres tosurface 1500 using vacuum adhesion. Surface 1500 has curved shape 1502.Curved shape 1502 is a convex shape in this depicted example.

Sleeve 306 and sleeve 308 are in initial positions in FIG. 15. However,seal 312 has rotated relative to sleeve 306 and seal 316 has rotatedrelative to sleeve 308 such that seal 312 and seal 316 conform to curvedshape 1502. In this manner, gap 1504 formed between seal 312 and surface1500 and gap 1506 formed between seal 316 and surface 1500 may be withinselected tolerances for maintaining the vacuum adhesion between adhesionsystem 204 and surface 1500.

With reference now to FIG. 16, an illustration of adhesion system 204adhering to a surface is depicted in accordance with an illustrativeembodiment. In this illustrative example, adhesion system 204 adheres tosurface 1600 using vacuum adhesion. Surface 1600 has curved shape 1602.Curved shape 1602 is a concave shape in this depicted example.

Sleeve 306 and sleeve 308 are in initial positions in FIG. 16. However,seal 312 has rotated relative to sleeve 306 and seal 316 has rotatedrelative to sleeve 308 such that seal 312 and seal 316 conform to curvedshape 1602.

With reference now to FIG. 17, an illustration of adhesion system 204adhering to a surface is depicted in accordance with an illustrativeembodiment. In this illustrative example, adhesion system 204 adheres tosurface 1700 using vacuum adhesion. Portion 1702 of surface 1700 issubstantially flat. However, portion 1704 of surface 1700 is curved.

Sleeve 308 has moved from an initial position. However, seal 316 is notrotated relative to sleeve 308. Sleeve 306 remains in an initialposition but seal 312 has rotated relative to sleeve 306.

With reference now to FIG. 18, an illustration of adhesion system 204adhering to a surface is depicted in accordance with an illustrativeembodiment. In this illustrative example, adhesion system 204 adheres tosurface 1800 using vacuum adhesion. Surface 1800 is substantially flatexcept for portion 1802. Portion 1802 has a convex shape in thisillustrative example.

As depicted, seal 312 has not rotated relative to sleeve 306 and seal316 has not rotated relative to sleeve 308. Sleeve 308 has moved from aninitial position, while sleeve 306 remains in an initial position.

With reference now to FIG. 19, an illustration of adhesion system 204adhering to a surface is depicted in accordance with an illustrativeembodiment. In this illustrative example, adhesion system 204 adheres tosurface 1900 using vacuum adhesion. Surface 1900 has step 1902 alongsurface 1900. Step 1902 is an example of one type of inconsistency thatmay be present on a surface.

Seal 316 has rotated relative to sleeve 307 and sleeve 308 has movedaway from an initial position. Seal 312 has not rotated relative tosleeve 306 and sleeve 306 remains in an initial position.

The illustrations of adhesion system 204 in FIGS. 2-6, the differentcomponents of adhesion system 204 in FIGS. 7-12, the cross-sectionalviews of adhesion system 204 in FIGS. 13-14, and the adhesion ofadhesion system 204 to different surfaces in FIG. 15-19 are not meant toimply physical or architectural limitations to the manner in which anillustrative embodiment may be implemented. Other components in additionto or in place of the ones illustrated may be used. Some components maybe optional.

The different components in FIGS. 2-19 may be illustrative examples ofhow components shown in block form in FIG. 1 can be implemented asphysical structures. The different components shown in FIGS. 2-19 may becombined with components in FIG. 1, used with components in FIG. 1, or acombination of the two.

With reference now to FIG. 20, an illustration of a process for adheringto a surface in the form of a flowchart is depicted in accordance withan illustrative embodiment. The process illustrated in FIG. 20 may beimplemented using adhesion system 100 in FIG. 1.

The process begins by positioning a seal in an adhesion system relativeto a surface (operation 2000). The seal is associated with a structurein the adhesion system. Further, the seal is in communication with achannel within the structure. In particular, the seal is associated witha bearing surface at an end of a sleeve. The sleeve is positioned in thechannel within the structure.

The seal is rotated relative to the structure such that the seal atleast partially conforms to the surface (operation 2002). Further, thesleeve is moved in a direction along a center axis through the sleeveand the channel within the structure relative to the structure(operation 2004). In some illustrative examples, operation 2002 andoperation 2004 are performed at the same time.

Thereafter, air is drawn into the channel within the structure throughthe seal such that the seal adheres to the surface (operation 2006),with the process terminating thereafter. Operation 2006 may be performedusing, for example, a vacuum system.

In operation 2006, the air is drawn into the channel within thestructure through a seal channel within the seal and a sleeve channelwithin the sleeve. Further, in operation 2006, a vacuum adhesion isformed between the seal and the surface in which a gap is presentbetween the seal and the surface. The gap has a width within selectedtolerances.

Operations 2002, 2004, and 2006 may be performed during movement of amobile platform with which the adhesion system is associated over thesurface. Rotation of the seal and movement of the sleeve allow theadhesion system to adapt to changes in the shape of the surface as themobile platform moves along the surface. The mobile platform may be, forexample, a robotic crawler.

The flowchart and block diagram in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatus and methods in an illustrativeembodiment. In this regard, each block in the flowcharts or blockdiagrams may represent a module, a segment, a function, and/or a portionof an operation or step.

In some alternative implementations of an illustrative embodiment, thefunction or functions noted in the blocks may occur out of the ordernoted in the figures. For example, in some cases, two blocks shown insuccession may be executed substantially concurrently, or the blocks maysometimes be performed in the reverse order, depending upon thefunctionality involved. Also, other blocks may be added in addition tothe illustrated blocks in a flowchart or block diagram.

Thus, the different illustrative embodiments provide a method andapparatus for forming a vacuum adhesion. In one illustrative embodiment,a seal is positioned relative to a surface. The seal is associated witha structure comprising a channel through which air is configured toflow. The seal is rotated relative to the structure such that the sealat least partially conforms to the surface. Air is drawn into thechannel within the structure through the seal such that the seal adheresto the surface.

The description of the different illustrative embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different illustrativeembodiments may provide different features as compared to otherillustrative embodiments. The embodiment or embodiments selected arechosen and described in order to best explain the principles of theembodiments, the practical application, and to enable others of ordinaryskill in the art to understand the disclosure for various embodimentswith various modifications as are suited to the particular usecontemplated.

What is claimed is:
 1. A method for adhering to a first surface, themethod comprising: positioning a seal relative to the first surface,wherein the seal is associated with a structure and is in communicationwith a first channel within the structure; rotating the seal relative tothe structure such that the seal at least partially conforms to thefirst surface, wherein the first surface is non-planar; drawing air intothe first channel within the structure through the seal such that theseal adheres to the first surface; and moving a sleeve in a directionalong a center axis through the sleeve and the first channel within thestructure relative to the structure, the sleeve having a first end and asecond end, wherein the sleeve is positioned in the first channel withinthe structure and the seal is associated with a bearing surface at thefirst end of the sleeve.
 2. The method of claim 1, wherein rotating theseal relative to the structure comprises: rotating the seal relative tothe sleeve such that the seal at least partially conforms to the firstsurface, wherein rotation of the seal relative to the sleeve is limitedby the bearing surface at the first end of the sleeve.
 3. The method ofclaim 1, wherein drawing the air into the first channel within thestructure through the seal comprises: drawing the air into the firstchannel within a first structural member in the structure through a sealchannel within the seal and a sleeve channel within the sleeve such thatthe seal adheres to the first surface using a vacuum system.
 4. Themethod of claim 1, further comprising: wherein the structure, thesleeve, and the seal are part of an adhesion system associated with aplatform; and wherein rotating the seal relative to the structure suchthat the seal at least partially conforms to the surface and moving thesleeve in the direction along the center axis through the sleeve and thefirst channel within the structure relative to the structure areperformed during movement of the platform over the first surface.
 5. Themethod of claim 4, wherein the platform is one of mobile or stationary.6. The method of claim 4, wherein the platform is a mobile platform, themobile platform selected from the group consisting of a mobile roboticmachine, a robotic crawler, a mobile inspection system, and an unmannedground vehicle.
 7. The method of claim 4, wherein the platform is astationary platform, the stationary platform selected from the groupconsisting of a stage, an inspection system, a man-made structure, acontainer, and a retaining structure.
 8. The method of claim 1, whereinthe first surface being non-planar is defined as being one of the groupconsisting of not flat, having a curved shape, having at least one hill,having at least one valley, having at least one curved feature, havinginconsistencies along the first surface, having at least one protrusionat a number of locations on the first surface, and having at least onefastener joint extending out of a plane through the first surface. 9.The method of claim 1, wherein the first surface belongs to an objectassociated with one of the group consisting of a fuselage of anaircraft, a wing of an aircraft, a nacelle of an engine, an aerospacevehicle, a hull of a ship, a missile, a cargo container, a door, a wall,a roof, a window, a structure, a table, and a floor.
 10. The method ofclaim 1, wherein the seal comprises a seal component, the seal componentselected from the group consisting of rubber, a viscoelastomericmaterial, an elastomer, and a flexible material.